Medical care robot provided with mechanical arm

Abstract

The utility model relates to the field of robots, and particularly discloses a medical care robot provided with a mechanical arm. A mechanical arm is arranged above the frame and comprises a large arm, a small arm, a rotating head and a mounting plate, a mechanical arm rotating part is arranged on the upper end face of the frame and connected with the large arm through an angle adjusting part, the upper end of the large arm is connected with the small arm through a small arm adjusting part, and the interior of the rotating head is connected with the mounting plate through a mounting plate adjusting part; lifting supports are arranged on the two sides of the mechanical arm rotating component on the upper end face of the frame, a horizontal position adjusting mechanism is arranged above the lifting supports, and a visual camera is arranged in the mounting groove. Compared with the prior art, the robot has the advantages that the robot is provided with the six-degree-of-freedom mechanical arm and has high moving stability, the robot has the autonomous recognition capacity through the multi-axial adjustable visual camera, and meanwhile the application range of the robot is expanded.

Description

Technical Field

[0001] This utility model relates to the field of medical robot technology, and in particular to a medical robot equipped with a robotic arm. Background Technology

[0002] With an aging population and increased health awareness, society's expectations for high-quality medical services have risen significantly. However, there is a shortage of existing medical and nursing human resources, and healthcare workers face heavy workloads, numerous simple yet tedious tasks, and a high risk of human error. This results in existing medical resources being unable to meet the growing demand for healthcare, placing enormous pressure on the medical system. Furthermore, the aseptic technique required in a ward environment is extremely demanding, and traditional manual methods cannot achieve complete sterility. Using robots for ward monitoring and supplies delivery can create a completely sterile ward environment.

[0003] While the development of medical robots is progressing rapidly, many problems still exist:

[0004] Firstly, accurately finding, locating, and grasping targets in complex environments remains a challenge for medical robots.

[0005] Secondly, the robot's mobility needs to be improved. It remains challenging to quickly and accurately reach its destination on uneven ground and in environments with many obstacles while maintaining high stability.

[0006] Third, the ability of medical robots to perceive the external environment needs to be improved.

[0007] This invention addresses these issues by proposing a medical robot equipped with a robotic arm, aiming to solve the aforementioned problems. The medical robot is equipped with a six-degree-of-freedom robotic arm and has high mobility stability. Through a multi-axis adjustable vision camera, the robot has autonomous recognition capabilities, which also expands the robot's application range. Utility Model Content

[0008] In view of the above-mentioned shortcomings in the prior art, the present invention provides a medical robot equipped with a robotic arm.

[0009] To achieve the aforementioned objectives, the technical solution adopted by this utility model is as follows:

[0010] A medical robot equipped with a robotic arm includes a chassis and a propulsion assembly.

[0011] The vehicle frame is equipped with a traveling assembly, which includes a wheel frame, a wheel, and a motor. The wheel frame is located at the four corners of the vehicle frame, and the wheel is rotatably connected inside the wheel frame. The motor is located on the opposite side of the wheel frame, and the motor drives the wheel to rotate.

[0012] A robotic arm is provided above the vehicle frame. The robotic arm includes a large arm, a small arm, a rotating head, and a mounting plate. A robotic arm rotating component is provided on the upper surface of the vehicle frame. The robotic arm rotating component is connected to the large arm through an angle adjustment component. The upper end of the large arm is connected to the small arm through a small arm adjustment component. The end of the small arm away from the large arm is connected to the rotating head through a rotating head drive component. The rotating head is connected to the mounting plate through a mounting plate adjustment component.

[0013] The upper end face of the frame is provided with lifting brackets on both sides of the rotating component of the robotic arm. A horizontal position adjustment mechanism is provided above the lifting brackets. The lifting brackets adjust the height of the horizontal position adjustment mechanism. The horizontal position adjustment mechanism adjusts the horizontal position of the mounting slot one. A vision camera is provided in the mounting slot one.

[0014] As an improvement, the rotating component of the robotic arm includes a second motor and a protective shell. The protective shell is connected to the frame. The second motor is located inside the protective shell. A fifth synchronous pulley is located on the second motor. A sixth synchronous pulley is located at the lower end of the angle adjustment component. The sixth synchronous pulley is connected to the fifth synchronous pulley via a third synchronous belt.

[0015] As an improvement, the angle adjustment component includes a second mounting slot, a third motor, a first synchronous pulley, and a second synchronous pulley. The upper end of the second mounting slot is rotatably connected to a rotating shaft, which is connected to the upper arm. The first synchronous pulley is mounted on the rotating shaft. The third motor is mounted on the side of the second mounting slot, and the second synchronous pulley is mounted on the output end of the third motor. The second synchronous pulley is connected to the first synchronous pulley via a synchronous belt. A forearm adjustment component is mounted on the upper side of the upper arm.

[0016] As an improvement, the forearm adjustment component uses a motor four, and the forearm is hinged to the upper end of the upper arm. The output end of the motor four is connected to the forearm.

[0017] As an improvement, the rotating head drive component adopts motor five, and the output end of motor five is connected to the rotating head.

[0018] As an improvement, a mounting plate is provided on one side of the rotating head. The mounting plate is hinged to the rotating head via a connecting shaft. A synchronous pulley three is provided on the part of the connecting shaft that protrudes from the rotating head. A gear one is provided on the opposite end of the connecting shaft. A motor six is ​​provided inside the rotating head. A synchronous pulley four is provided on the output end of the motor six. The synchronous pulley four is connected to the synchronous pulley three via a synchronous belt two. A connecting groove is rotatably connected to the mounting plate. A gear two is provided on the connecting groove. The gear two meshes with the gear one.

[0019] As an improvement, the lifting bracket includes a fixed bracket and a lifting frame. The fixed bracket is connected to the vehicle frame. The fixed bracket has a slide rail on its side. A slider is slidably connected to the slide rail. The slider is connected to the lifting frame. A rack is provided on the inner surface of the lifting frame. A motor is provided on the fixed bracket. A gear is provided on the output end of the motor. The gear meshes with the rack.

[0020] Furthermore, the horizontal position adjustment mechanism includes a fixed rod and a positioning rod. The upper end of the fixed rod is connected to the lifting frame. A motor is provided on the upper end face of the fixed rod. A gear is provided on the output end of the motor. A slide rail is provided on the opposite side of the positioning rod. A slider is slidably connected on the slide rail. The slider is connected to the fixed rod. A rack is provided on the side of the positioning rod that is away from it. The rack meshes with the gear. An installation groove is provided on the side of the positioning rod that is away from it.

[0021] Furthermore, one end of the wheel frame is hinged to the vehicle frame, and the other end is connected to the vehicle frame via a shock absorber rod, with the two ends of the shock absorber rod being hinged to the vehicle frame and the wheel frame respectively.

[0022] Compared to traditional technologies, the advantages of this utility model are:

[0023] 1. The travel component can adapt to uneven ground and complex environments while maintaining high stability. At the same time, it has good load-bearing capacity, enabling the robot to carry heavier items.

[0024] 2. The lifting bracket and horizontal position adjustment mechanism adjust the position of the mounting slot in the vertical and horizontal directions, thereby adjusting the position of the vision camera in multiple directions, enabling it to keenly perceive the surrounding environment.

[0025] 3. The robotic arm can move in six axes by adjusting the rotating parts, angle adjustment parts, forearm adjustment parts, rotating head drive parts, mounting plate adjustment parts, and motor six. At the same time, different modular gripping tools can be installed in the connecting slot to adapt to medical supplies of different shapes, sizes and properties, realizing multiple uses of one arm. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ;

[0027] Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ;

[0028] Figure 3 This is a schematic diagram of the structure of the rotating component of the robotic arm of this utility model;

[0029] Figure 4 This is a schematic diagram of the structure of the lifting support of this utility model;

[0030] Figure 5 This is a schematic diagram of the structure of the rotating head of this utility model;

[0031] Reference table for attached figures:

[0032] 1. Frame; 2. Wheel frame; 3. Wheel; 4. Motor 1; 5. Boom; 6. Arm; 7. Rotating head; 8. Mounting plate; 9. Mounting slot 1; 10. Motor 2; 11. Protective shell; 12. Synchronous pulley 5; 13. Synchronous pulley 6; 14. Mounting slot 2; 15. Motor 3; 16. Synchronous pulley 1; 17. Synchronous pulley 2; 18. Motor 4; 19. Motor 5; 20. Synchronous pulley 3; 21. Gear 1; 22. Motor 6; 23. Synchronous pulley 4; 24. Connecting slot; 25. Gear 2; 26. Fixed bracket; 27. Lifting frame; 28. Slide rail 1; 29. ​​Slider 1; 30. Rack 1; 31. Motor 7; 32. Gear 3; 33. Fixed rod; 34. Positioning rod; 35. Motor 8; 36. Gear 4; 37. Slide rail 2; 38. Slider 2; 39. Rack 2; 40. Vibration damping rod. Detailed Implementation

[0033] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals.

[0034] It should be noted that the terms “front,” “back,” “left,” “right,” “up,” and “down” used in the following description refer to the directions shown in the attached diagram, while the terms “inside” and “outside” refer to the directions toward or away from the geometric center of a specific component, respectively.

[0035] To make the content of this utility model easier to understand, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this utility model.

[0036] Example 1

[0037] Combined with appendix Figure 1-5 The frame 1 is provided with a traveling component, which includes a wheel frame 2, a wheel 3 and a motor 4. The frame 1 is provided with a wheel frame 2 at each of its four corners. The wheel 3 is rotatably connected inside the wheel frame 2. The motor 4 is provided on the opposite side of the wheel frame 2. The motor 4 drives the wheel 3 to rotate.

[0038] One end of the wheel frame 2 is hinged to the frame 1, and the other end is connected to the frame 1 through a shock absorber 40. The two ends of the shock absorber 40 are hinged to the frame 1 and the wheel frame 2 respectively.

[0039] In use, motor 4 drives the wheels 3 to rotate. Each wheel 3 is driven by an independent motor 4. At the same time, the two ends of the shock absorber 41 are hinged to the frame 1 and the wheel frame 2 respectively, so that it can move independently without affecting other wheels 3, adapt to uneven ground and complex environment, and maintain high stability.

[0040] Combined with appendix Figure 1-5 A robotic arm is provided above the frame 1. The robotic arm includes a large arm 5, a small arm 6, a rotating head 7, and a mounting plate 8. A robotic arm rotating component is provided on the upper surface of the frame 1. The robotic arm rotating component is connected to the large arm 5 through an angle adjustment component. The upper end of the large arm 5 is connected to the small arm 6 through a small arm adjustment component. The end of the small arm 6 away from the large arm 5 is connected to the rotating head 7 through a rotating head drive component. The rotating head 7 is connected to the mounting plate 8 through a mounting plate adjustment component.

[0041] The rotating component of the robotic arm includes a second motor 10 and a protective shell 11. The protective shell 11 is connected to the frame 1. The second motor 10 is located inside the protective shell 11. The second motor 10 is equipped with a fifth synchronous pulley 12. The lower end of the angle adjustment component is equipped with a sixth synchronous pulley 13. The sixth synchronous pulley 13 is connected to the fifth synchronous pulley 12 via a third synchronous belt.

[0042] The angle adjustment component includes a second mounting slot 14, a third motor 15, a first synchronous pulley 16, and a second synchronous pulley 17. The upper end of the second mounting slot 14 is rotatably connected to a rotating shaft, which is connected to the upper arm 5. The first synchronous pulley 16 is provided on the rotating shaft. The third motor 15 is provided on the side of the second mounting slot 14. The output end of the third motor 15 is provided with the second synchronous pulley 17. The second synchronous pulley 17 is connected to the first synchronous pulley 16 through a synchronous belt. The upper side of the upper arm 5 is provided with a forearm adjustment component.

[0043] The forearm adjustment component uses a motor 418, and the upper end of the upper arm 5 is hinged to the forearm 6. The output end of the motor 418 is connected to the forearm 6.

[0044] The rotating head drive component is a motor 519, and the output end of the motor 519 is connected to the rotating head 7.

[0045] The rotating head 7 has a mounting plate 8 on one side. The mounting plate 8 is hinged to the rotating head 7 via a connecting shaft. The part of the connecting shaft that protrudes from the rotating head 7 is provided with a synchronous pulley 3 20. A gear 1 21 is provided on the opposite end of the connecting shaft. A motor 6 22 is provided inside the rotating head 7. A synchronous pulley 4 23 is provided on the output end of the motor 6 22. The synchronous pulley 4 23 is connected to the synchronous pulley 3 20 via a synchronous belt 2. A connecting groove 24 is rotatably connected to the mounting plate 8. A gear 25 is provided on the connecting groove 24. The gear 25 meshes with the gear 1 21.

[0046] When the robotic arm grasps an object, motor 210 drives synchronous pulley 512 to rotate, which in turn drives synchronous pulley 613 to rotate via synchronous belt 3. Synchronous pulley 613 then drives the angle adjustment component to rotate, thereby driving the robotic arm to rotate.

[0047] Motor 315 rotates, driving synchronous pulley 217 to rotate. Synchronous pulley 217 drives synchronous pulley 16 to rotate via synchronous belt 1, which in turn drives the boom 5 to rotate via the shaft, thereby adjusting the elevation angle of the robotic arm.

[0048] The motor rotates, driving the forearm 6 to rotate, thereby adjusting the pitch angle of the forearm 6.

[0049] The rotation of motor 519 drives the rotating head 7 to rotate, thereby adjusting the orientation of the rotating head 7.

[0050] Motor 6 22 drives synchronous pulley 4 23 to rotate. Synchronous pulley 4 23 drives synchronous pulley 3 20 to rotate via synchronous belt 2. Synchronous pulley 3 20 drives gear 1 21 to rotate. Gear 1 21 drives gear 2 25 to rotate. Gear 2 25 drives connecting slot 24 to rotate. This achieves six-axis motion of the robotic arm. The connecting slot 24 adopts an interface-type structural design, which facilitates the installation of different modular gripping tools, such as mechanical claws for picking up syringes, medicine bottles, etc., electromagnetic suction devices for handling ferrous objects, and suction cups for picking up medicine boxes and other regularly shaped items, to adapt to medical supplies of different shapes, sizes and properties, achieving multi-purpose use of one arm. In addition, the gripping tools are highly adaptable, can operate in confined spaces, and have high flexibility in various environments.

[0051] Example 2

[0052] Combined with appendix Figure 1-5 The upper end face of the frame 1 has lifting brackets on both sides of the robotic arm rotating component. A horizontal position adjustment mechanism is provided above the lifting brackets. The lifting brackets adjust the height of the horizontal position adjustment mechanism. The horizontal position adjustment mechanism adjusts the horizontal position of the mounting slot 9. A vision camera is provided in the mounting slot 9.

[0053] The lifting support includes a fixed support 26 and a lifting frame 27. The fixed support 26 is connected to the vehicle frame 1. The side of the fixed support 26 is provided with a slide rail 28. A slider 29 is slidably connected to the slide rail 28. The slider 29 is connected to the lifting frame 27. The inner surface of the lifting frame 27 is provided with a rack 30. The fixed support 26 is provided with a motor 31. The output end of the motor 31 is provided with a gear 32, which meshes with the rack 30.

[0054] The horizontal position adjustment mechanism includes a fixed rod 33 and a positioning rod 34. The upper end of the fixed rod 33 is connected to the lifting frame 27. A motor 35 is provided on the upper end of the fixed rod 33. A gear 36 is provided on the output end of the motor 35. A slide rail 37 is provided on the opposite side of the positioning rod 34. A slider 38 is slidably connected to the slide rail 37. The slider 38 is connected to the fixed rod 33. A rack 39 is provided on the opposite side of the positioning rod 34. The rack 39 meshes with the gear 36. An installation groove 9 is provided on the opposite side of the positioning rod 34.

[0055] Based on Embodiment 1, the motor 31 rotates, and through the meshing of the gear 32 and the rack 30, it drives the lifting frame 27 to move. The slider 29 slides on the slide rail 28 to guide the movement direction of the lifting frame 27 and ensure its smooth movement. The lifting frame 27 adjusts the height of the mounting groove 40.

[0056] The motor 35 rotates, and through the meshing of gear 36 and rack 39, it drives the positioning rod 34 to move. The slider 38 slides on the slide rail 37, guiding the movement direction of the positioning rod 34 and ensuring its smooth movement. The positioning rod 34 adjusts the position of the mounting groove 9 in the horizontal direction.

[0057] Mounting slot 9 drives the movement of the vision camera, which comprehensively explores the surrounding environment and precisely captures the tool that needs to be grasped.

[0058] The above description is only a preferred embodiment of this utility model patent and is not intended to limit this utility model patent. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this utility model patent should be included within the protection scope of this utility model patent.

Claims

1. A medical robot equipped with a robotic arm, comprising a frame (1) and a travel assembly, characterized in that: The frame (1) is provided with a traveling component, which includes a wheel frame (2), a wheel (3) and a motor (4). The frame (1) is provided with a wheel frame (2) at each of its four corners. A wheel (3) is rotatably connected inside the wheel frame (2). A motor (4) is provided on the opposite side of the wheel frame (2). The motor (4) drives the wheel (3) to rotate. A robotic arm is provided above the frame (1). The robotic arm includes a large arm (5), a small arm (6), a rotating head (7), and a mounting plate (8). A robotic arm rotating component is provided on the upper surface of the frame (1). The robotic arm rotating component is connected to the large arm (5) through an angle adjustment component. The upper end of the large arm (5) is connected to the small arm (6) through a small arm adjustment component. The end of the small arm (6) away from the large arm (5) is connected to the rotating head (7) through a rotating head drive component. The rotating head (7) is connected to the mounting plate (8) through a mounting plate adjustment component. The upper end face of the frame (1) is provided with lifting brackets on both sides of the mechanical arm rotating component. A horizontal position adjustment mechanism is provided above the lifting bracket. The lifting bracket adjusts the height of the horizontal position adjustment mechanism. The horizontal position adjustment mechanism adjusts the horizontal position of the mounting slot (9). A vision camera is provided in the mounting slot (9).

2. A medical robot equipped with a robotic arm according to claim 1, characterized in that: The rotating component of the robotic arm includes a second motor (10) and a protective shell (11). The protective shell (11) is connected to the frame (1). The second motor (10) is located inside the protective shell (11). The second motor (10) is equipped with a fifth synchronous wheel (12). The lower end of the angle adjustment component is equipped with a sixth synchronous wheel (13). The sixth synchronous wheel (13) is connected to the fifth synchronous wheel (12) via a third synchronous belt.

3. A medical robot equipped with a robotic arm according to claim 2, characterized in that: The angle adjustment component includes a second mounting slot (14), a third motor (15), a first synchronous pulley (16), and a second synchronous pulley (17). The upper end of the second mounting slot (14) is rotatably connected to a rotating shaft, which is connected to the upper arm (5). The first synchronous pulley (16) is provided on the rotating shaft. The third motor (15) is provided on the side of the second mounting slot (14). The second synchronous pulley (17) is provided on the output end of the third motor (15). The second synchronous pulley (17) is connected to the first synchronous pulley (16) via a synchronous belt. The upper side of the upper arm (5) is provided with a forearm adjustment component.

4. A medical robot equipped with a robotic arm according to claim 3, characterized in that: The forearm adjustment component uses a motor four (18), and the upper end of the upper arm (5) is hinged to the forearm (6). The output end of the motor four (18) is connected to the forearm (6).

5. A medical robot equipped with a robotic arm according to claim 1, characterized in that: The rotating head drive component uses motor five (19), and the output end of motor five (19) is connected to the rotating head (7).

6. A medical robot equipped with a robotic arm according to claim 5, characterized in that: The rotating head (7) is provided with a mounting plate (8) on one side. The mounting plate (8) is hinged to the rotating head (7) through a connecting shaft. The part of the connecting shaft that protrudes from the rotating head (7) is provided with a synchronous wheel three (20). The opposite end of the connecting shaft is provided with a gear one (21). The rotating head (7) is provided with a motor six (22). The output end of the motor six (22) is provided with a synchronous wheel four (23). The synchronous wheel four (23) is connected to the synchronous wheel three (20) through a synchronous belt two. The mounting plate (8) is rotatably connected with a connecting groove (24). The connecting groove (24) is provided with a gear two (25). The gear two (25) meshes with the gear one (21).

7. A medical robot equipped with a robotic arm according to claim 1, characterized in that: The lifting bracket includes a fixed bracket (26) and a lifting frame (27). The fixed bracket (26) is connected to the frame (1). The fixed bracket (26) has a slide rail (28) on its side. A slider (29) is slidably connected to the slide rail (28). The slider (29) is connected to the lifting frame (27). The inner surface of the lifting frame (27) is provided with a rack (30). The fixed bracket (26) is provided with a motor (31). The output end of the motor (31) is provided with a gear (32). The gear (32) meshes with the rack (30).

8. A medical robot equipped with a robotic arm according to claim 1, characterized in that: The horizontal position adjustment mechanism includes a fixed rod (33) and a positioning rod (34). The upper end of the fixed rod (33) is connected to the lifting frame (27). The upper end face of the fixed rod (33) is provided with a motor (35). The output end of the motor (35) is provided with a gear (36). The opposite side of the positioning rod (34) is provided with a slide rail (37). A slider (38) is slidably connected to the slide rail (37). The slider (38) is connected to the fixed rod (33). The opposite side of the positioning rod (34) is provided with a rack (39). The rack (39) meshes with the gear (36). The opposite side of the positioning rod (34) is provided with an installation groove (9).

9. A medical robot equipped with a robotic arm according to claim 1, characterized in that: One end of the wheel frame (2) is hinged to the frame (1), and the other end is connected to the frame (1) through a shock absorber rod (40). The two ends of the shock absorber rod (40) are hinged to the frame (1) and the wheel frame (2) respectively.

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